Merge branch 'bugfix-2.0.x' into pr/24560

Marlin/Configuration_adv.h

@@ -923,9 +923,12 @@
  */
 //#define Z_STEPPER_AUTO_ALIGN
 #if ENABLED(Z_STEPPER_AUTO_ALIGN)
-  // Define probe X and Y positions for Z1, Z2 [, Z3 [, Z4]]
-  // If not defined, probe limits will be used.
-  // Override with 'M422 S<index> X<pos> Y<pos>'
+  /**
+   * Define probe X and Y positions for Z1, Z2 [, Z3 [, Z4]]
+   * These positions are machine-relative and do not shift with the M206 home offset!
+   * If not defined, probe limits will be used.
+   * Override with 'M422 S<index> X<pos> Y<pos>'.
+   */
   //#define Z_STEPPER_ALIGN_XY { {  10, 190 }, { 100,  10 }, { 190, 190 } }
 
   /**

Marlin/src/HAL/STM32/tft/tft_ltdc.cpp

@@ -372,9 +372,9 @@ void TFT_LTDC::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Cou
     if (MemoryIncrease == DMA_PINC_ENABLE) {
       DrawImage(x_min, y_cur, x_min + width, y_cur + height, Data);
       Data += width * height;
-    } else {
-      DrawRect(x_min, y_cur, x_min + width, y_cur + height, *Data);
     }
+    else
+      DrawRect(x_min, y_cur, x_min + width, y_cur + height, *Data);
     y_cur += height;
   }
 

Marlin/src/core/serial.cpp

@@ -35,7 +35,7 @@ PGMSTR(SP_P_STR, " P"); PGMSTR(SP_T_STR, " T"); PGMSTR(NUL_STR,   "");
 
 #define _N_STR(N) PGMSTR(N##_STR, STR_##N);
 #define _N_LBL(N) PGMSTR(N##_LBL, STR_##N ":");
-#define _SP_N_STR(N) PGMSTR(SP_##N##_STR, STR_##N ":");
+#define _SP_N_STR(N) PGMSTR(SP_##N##_STR, " " STR_##N);
 #define _SP_N_LBL(N) PGMSTR(SP_##N##_LBL, " " STR_##N ":");
 MAP(_N_STR, LOGICAL_AXIS_NAMES); MAP(_SP_N_STR, LOGICAL_AXIS_NAMES);
 MAP(_N_LBL, LOGICAL_AXIS_NAMES); MAP(_SP_N_LBL, LOGICAL_AXIS_NAMES);

Marlin/src/core/utility.h

@@ -84,8 +84,7 @@ constexpr uint8_t ui8_to_percent(const uint8_t i) { return (int(i) * 100 + 127)
 
 // Axis names for G-code parsing, reports, etc.
 const xyze_char_t axis_codes LOGICAL_AXIS_ARRAY('E', 'X', 'Y', 'Z', AXIS4_NAME, AXIS5_NAME, AXIS6_NAME);
-
-#if LINEAR_AXES <= XYZ
+#if LINEAR_AXES <= XYZ && !HAS_EXTRUDERS
   #define AXIS_CHAR(A) ((char)('X' + A))
   #define IAXIS_CHAR AXIS_CHAR
 #else

Marlin/src/feature/backlash.cpp

@@ -162,32 +162,37 @@ int32_t Backlash::get_applied_steps(const AxisEnum axis) {
 }
 
 class Backlash::StepAdjuster {
-  xyz_long_t applied_steps;
-public:
-  StepAdjuster() {
-    LOOP_LINEAR_AXES(axis) applied_steps[axis] = backlash.get_applied_steps((AxisEnum)axis);
-  }
-  ~StepAdjuster() {
-    // after backlash compensation parameter changes, ensure applied step count does not change
-    LOOP_LINEAR_AXES(axis) residual_error[axis] += backlash.get_applied_steps((AxisEnum)axis) - applied_steps[axis];
-  }
+  private:
+    xyz_long_t applied_steps;
+  public:
+    StepAdjuster() {
+      LOOP_LINEAR_AXES(axis) applied_steps[axis] = backlash.get_applied_steps((AxisEnum)axis);
+    }
+    ~StepAdjuster() {
+      // after backlash compensation parameter changes, ensure applied step count does not change
+      LOOP_LINEAR_AXES(axis) residual_error[axis] += backlash.get_applied_steps((AxisEnum)axis) - applied_steps[axis];
+    }
 };
 
-void Backlash::set_correction_uint8(const uint8_t v) {
-  StepAdjuster adjuster;
-  correction = v;
-}
+#if ENABLED(BACKLASH_GCODE)
 
-void Backlash::set_distance_mm(const AxisEnum axis, const float v) {
-  StepAdjuster adjuster;
-  distance_mm[axis] = v;
-}
+  void Backlash::set_correction_uint8(const uint8_t v) {
+    StepAdjuster adjuster;
+    correction = v;
+  }
 
-#ifdef BACKLASH_SMOOTHING_MM
-  void Backlash::set_smoothing_mm(const float v) {
+  void Backlash::set_distance_mm(const AxisEnum axis, const float v) {
     StepAdjuster adjuster;
-    smoothing_mm = v;
+    distance_mm[axis] = v;
   }
+
+  #ifdef BACKLASH_SMOOTHING_MM
+    void Backlash::set_smoothing_mm(const float v) {
+      StepAdjuster adjuster;
+      smoothing_mm = v;
+    }
+  #endif
+
 #endif
 
 #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)

Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp

@@ -35,8 +35,18 @@
 #include "../../../MarlinCore.h"
 #include <math.h>
 
+//#define DEBUG_UBL_MOTION
+#define DEBUG_OUT ENABLED(DEBUG_UBL_MOTION)
+#include "../../../core/debug_out.h"
+
 #if !UBL_SEGMENTED
 
+  // TODO: The first and last parts of a move might result in very short segment(s)
+  //       after getting split on the cell boundary, so moves like that should not
+  //       get split. This will be most common for moves that start/end near the
+  //       corners of cells. To fix the issue, simply check if the start/end of the line
+  //       is very close to a cell boundary in advance and don't split the line there.
+
   void unified_bed_leveling::line_to_destination_cartesian(const_feedRate_t scaled_fr_mm_s, const uint8_t extruder) {
     /**
      * Much of the nozzle movement will be within the same cell. So we will do as little computation
@@ -175,7 +185,9 @@
           dest.z += z0;
           planner.buffer_segment(dest, scaled_fr_mm_s, extruder);
 
-        } //else printf("FIRST MOVE PRUNED  ");
+        }
+        else
+          DEBUG_ECHOLNPGM("[ubl] skip Y segment");
       }
 
       // At the final destination? Usually not, but when on a Y Mesh Line it's completed.
@@ -224,7 +236,9 @@
           dest.z += z0;
           if (!planner.buffer_segment(dest, scaled_fr_mm_s, extruder)) break;
 
-        } //else printf("FIRST MOVE PRUNED  ");
+        }
+        else
+          DEBUG_ECHOLNPGM("[ubl] skip Y segment");
       }
 
       if (xy_pos_t(current_position) != xy_pos_t(end))

Marlin/src/feature/direct_stepping.cpp

@@ -143,14 +143,16 @@ namespace DirectStepping {
           // special case for 8-bit, check if rolled back to 0
           if (Cfg::DIRECTIONAL || !write_page_size) { // full 256 bytes
             if (write_byte_idx) return true;
-          } else {
-            if (write_byte_idx < write_page_size) return true;
           }
-        } else if (Cfg::DIRECTIONAL) {
-          if (write_byte_idx != Cfg::PAGE_SIZE) return true;
-        } else {
-          if (write_byte_idx < write_page_size) return true;
+          else if (write_byte_idx < write_page_size)
+            return true;
+        }
+        else if (Cfg::DIRECTIONAL) {
+          if (write_byte_idx != Cfg::PAGE_SIZE)
+            return true;
         }
+        else if (write_byte_idx < write_page_size)
+          return true;
 
         state = State::CHECKSUM;
         return true;
@@ -161,11 +163,10 @@ namespace DirectStepping {
         return true;
       }
       case State::UNFAIL:
-        if (c == 0) {
+        if (c == 0)
           set_page_state(write_page_idx, PageState::FREE);
-        } else {
+        else
           fatal_error = true;
-        }
         state = State::MONITOR;
         return true;
     }

Marlin/src/feature/encoder_i2c.cpp

@@ -49,7 +49,7 @@ void I2CPositionEncoder::init(const uint8_t address, const AxisEnum axis) {
 
   initialized = true;
 
-  SERIAL_ECHOLNPGM("Setting up encoder on ", AS_CHAR(axis_codes[encoderAxis]), " axis, addr = ", address);
+  SERIAL_ECHOLNPGM("Setting up encoder on ", AS_CHAR(AXIS_CHAR(encoderAxis)), " axis, addr = ", address);
 
   position = get_position();
 }
@@ -67,7 +67,7 @@ void I2CPositionEncoder::update() {
     /*
     if (trusted) { //commented out as part of the note below
       trusted = false;
-      SERIAL_ECHOLNPGM("Fault detected on ", AS_CHAR(axis_codes[encoderAxis]), " axis encoder. Disengaging error correction until module is trusted again.");
+      SERIAL_ECHOLNPGM("Fault detected on ", AS_CHAR(AXIS_CHAR(encoderAxis)), " axis encoder. Disengaging error correction until module is trusted again.");
     }
     */
     return;
@@ -92,7 +92,7 @@ void I2CPositionEncoder::update() {
       if (millis() - lastErrorTime > I2CPE_TIME_TRUSTED) {
         trusted = true;
 
-        SERIAL_ECHOLNPGM("Untrusted encoder module on ", AS_CHAR(axis_codes[encoderAxis]), " axis has been fault-free for set duration, reinstating error correction.");
+        SERIAL_ECHOLNPGM("Untrusted encoder module on ", AS_CHAR(AXIS_CHAR(encoderAxis)), " axis has been fault-free for set duration, reinstating error correction.");
 
         //the encoder likely lost its place when the error occurred, so we'll reset and use the printer's
         //idea of where it the axis is to re-initialize
@@ -172,7 +172,7 @@ void I2CPositionEncoder::update() {
             float sumP = 0;
             LOOP_L_N(i, I2CPE_ERR_PRST_ARRAY_SIZE) sumP += errPrst[i];
             const int32_t errorP = int32_t(sumP * RECIPROCAL(I2CPE_ERR_PRST_ARRAY_SIZE));
-            SERIAL_CHAR(axis_codes[encoderAxis]);
+            SERIAL_CHAR(AXIS_CHAR(encoderAxis));
             SERIAL_ECHOLNPGM(" : CORRECT ERR ", errorP * planner.mm_per_step[encoderAxis], "mm");
             babystep.add_steps(encoderAxis, -LROUND(errorP));
             errPrstIdx = 0;
@@ -192,7 +192,7 @@ void I2CPositionEncoder::update() {
     if (ABS(error) > I2CPE_ERR_CNT_THRESH * planner.settings.axis_steps_per_mm[encoderAxis]) {
       const millis_t ms = millis();
       if (ELAPSED(ms, nextErrorCountTime)) {
-        SERIAL_CHAR(axis_codes[encoderAxis]);
+        SERIAL_CHAR(AXIS_CHAR(encoderAxis));
         SERIAL_ECHOLNPGM(" : LARGE ERR ", error, "; diffSum=", diffSum);
         errorCount++;
         nextErrorCountTime = ms + I2CPE_ERR_CNT_DEBOUNCE_MS;
@@ -212,7 +212,7 @@ void I2CPositionEncoder::set_homed() {
     homed = trusted = true;
 
     #ifdef I2CPE_DEBUG
-      SERIAL_CHAR(axis_codes[encoderAxis]);
+      SERIAL_CHAR(AXIS_CHAR(encoderAxis));
       SERIAL_ECHOLNPGM(" axis encoder homed, offset of ", zeroOffset, " ticks.");
     #endif
   }
@@ -223,15 +223,15 @@ void I2CPositionEncoder::set_unhomed() {
   homed = trusted = false;
 
   #ifdef I2CPE_DEBUG
-    SERIAL_CHAR(axis_codes[encoderAxis]);
+    SERIAL_CHAR(AXIS_CHAR(encoderAxis));
     SERIAL_ECHOLNPGM(" axis encoder unhomed.");
   #endif
 }
 
 bool I2CPositionEncoder::passes_test(const bool report) {
   if (report) {
     if (H != I2CPE_MAG_SIG_GOOD) SERIAL_ECHOPGM("Warning. ");
-    SERIAL_CHAR(axis_codes[encoderAxis]);
+    SERIAL_CHAR(AXIS_CHAR(encoderAxis));
     serial_ternary(H == I2CPE_MAG_SIG_BAD, F(" axis "), F("magnetic strip "), F("encoder "));
     switch (H) {
       case I2CPE_MAG_SIG_GOOD:
@@ -252,7 +252,7 @@ float I2CPositionEncoder::get_axis_error_mm(const bool report) {
               error = ABS(diff) > 10000 ? 0 : diff; // Huge error is a bad reading
 
   if (report) {
-    SERIAL_CHAR(axis_codes[encoderAxis]);
+    SERIAL_CHAR(AXIS_CHAR(encoderAxis));
     SERIAL_ECHOLNPGM(" axis target=", target, "mm; actual=", actual, "mm; err=", error, "mm");
   }
 
@@ -262,7 +262,7 @@ float I2CPositionEncoder::get_axis_error_mm(const bool report) {
 int32_t I2CPositionEncoder::get_axis_error_steps(const bool report) {
   if (!active) {
     if (report) {
-      SERIAL_CHAR(axis_codes[encoderAxis]);
+      SERIAL_CHAR(AXIS_CHAR(encoderAxis));
       SERIAL_ECHOLNPGM(" axis encoder not active!");
     }
     return 0;
@@ -287,7 +287,7 @@ int32_t I2CPositionEncoder::get_axis_error_steps(const bool report) {
   errorPrev = error;
 
   if (report) {
-    SERIAL_CHAR(axis_codes[encoderAxis]);
+    SERIAL_CHAR(AXIS_CHAR(encoderAxis));
     SERIAL_ECHOLNPGM(" axis target=", target, "; actual=", encoderCountInStepperTicksScaled, "; err=", error);
   }
 
@@ -657,7 +657,7 @@ void I2CPositionEncodersMgr::report_position(const int8_t idx, const bool units,
   else {
     if (noOffset) {
       const int32_t raw_count = encoders[idx].get_raw_count();
-      SERIAL_CHAR(axis_codes[encoders[idx].get_axis()], ' ');
+      SERIAL_CHAR(AXIS_CHAR(encoders[idx).get_axis()], ' ');
 
       for (uint8_t j = 31; j > 0; j--)
         SERIAL_ECHO((bool)(0x00000001 & (raw_count >> j)));
@@ -712,7 +712,7 @@ void I2CPositionEncodersMgr::change_module_address(const uint8_t oldaddr, const
   // and enable it (it will likely have failed initialization on power-up, before the address change).
   const int8_t idx = idx_from_addr(newaddr);
   if (idx >= 0 && !encoders[idx].get_active()) {
-    SERIAL_CHAR(axis_codes[encoders[idx].get_axis()]);
+    SERIAL_CHAR(AXIS_CHAR(encoders[idx).get_axis()]);
     SERIAL_ECHOLNPGM(" axis encoder was not detected on printer startup. Trying again.");
     encoders[idx].set_active(encoders[idx].passes_test(true));
   }
@@ -814,7 +814,7 @@ void I2CPositionEncodersMgr::M860() {
 
   if (I2CPE_idx == 0xFF) {
     LOOP_LOGICAL_AXES(i) {
-      if (!I2CPE_anyaxis || parser.seen_test(axis_codes[i])) {
+      if (!I2CPE_anyaxis || parser.seen_test(AXIS_CHAR(i))) {
         const uint8_t idx = idx_from_axis(AxisEnum(i));
         if ((int8_t)idx >= 0) report_position(idx, hasU, hasO);
       }
@@ -841,7 +841,7 @@ void I2CPositionEncodersMgr::M861() {
 
   if (I2CPE_idx == 0xFF) {
     LOOP_LOGICAL_AXES(i) {
-      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
+      if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
         const uint8_t idx = idx_from_axis(AxisEnum(i));
         if ((int8_t)idx >= 0) report_status(idx);
       }
@@ -869,7 +869,7 @@ void I2CPositionEncodersMgr::M862() {
 
   if (I2CPE_idx == 0xFF) {
     LOOP_LOGICAL_AXES(i) {
-      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
+      if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
         const uint8_t idx = idx_from_axis(AxisEnum(i));
         if ((int8_t)idx >= 0) test_axis(idx);
       }
@@ -900,7 +900,7 @@ void I2CPositionEncodersMgr::M863() {
 
   if (I2CPE_idx == 0xFF) {
     LOOP_LOGICAL_AXES(i) {
-      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
+      if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
         const uint8_t idx = idx_from_axis(AxisEnum(i));
         if ((int8_t)idx >= 0) calibrate_steps_mm(idx, iterations);
       }
@@ -976,7 +976,7 @@ void I2CPositionEncodersMgr::M865() {
 
   if (!I2CPE_addr) {
     LOOP_LOGICAL_AXES(i) {
-      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
+      if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
         const uint8_t idx = idx_from_axis(AxisEnum(i));
         if ((int8_t)idx >= 0) report_module_firmware(encoders[idx].get_address());
       }
@@ -1007,7 +1007,7 @@ void I2CPositionEncodersMgr::M866() {
 
   if (I2CPE_idx == 0xFF) {
     LOOP_LOGICAL_AXES(i) {
-      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
+      if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
         const uint8_t idx = idx_from_axis(AxisEnum(i));
         if ((int8_t)idx >= 0) {
           if (hasR)
@@ -1045,7 +1045,7 @@ void I2CPositionEncodersMgr::M867() {
 
   if (I2CPE_idx == 0xFF) {
     LOOP_LOGICAL_AXES(i) {
-      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
+      if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
         const uint8_t idx = idx_from_axis(AxisEnum(i));
         if ((int8_t)idx >= 0) {
           const bool ena = onoff == -1 ? !encoders[I2CPE_idx].get_ec_enabled() : !!onoff;
@@ -1081,7 +1081,7 @@ void I2CPositionEncodersMgr::M868() {
 
   if (I2CPE_idx == 0xFF) {
     LOOP_LOGICAL_AXES(i) {
-      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
+      if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
         const uint8_t idx = idx_from_axis(AxisEnum(i));
         if ((int8_t)idx >= 0) {
           if (newThreshold != -9999)
@@ -1115,7 +1115,7 @@ void I2CPositionEncodersMgr::M869() {
 
   if (I2CPE_idx == 0xFF) {
     LOOP_LOGICAL_AXES(i) {
-      if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) {
+      if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
         const uint8_t idx = idx_from_axis(AxisEnum(i));
         if ((int8_t)idx >= 0) report_error(idx);
       }